HAR笔记--事件相机（event camera）数据常见处理方法总结

完整代码

liujf69/Data-Processing/Event_Camera

1--代码和数据参考

什么是事件相机，计算机视觉中事件相机这一方向需要学哪些相关知识？

THU-EACT-50

2--处理代码

2-1--Channel-by-channel accumulation

将events按时间戳累积到不同通道内。

import cv2
import numpy as np# Channel-by-channel accumulation
# 将events按时间戳累积到不同通道内
def gen_events_array(events_ori, C_event, duration, event_h, event_w):events = np.zeros((event_h, event_w, C_event))C_inter = duration / C_eventfor i in range(events_ori.shape[0]):W, H, t, p = events_ori[i]p = -1 if p == 0 else pevents[int(H), int(W), min(int(t // C_inter), C_event - 1)] += preturn eventsdef vis_event(gray):h,w = gray.shapeout = 255*np.ones([h, w, 3])pos_weight = gray.copy()neg_weight = gray.copy()pos_weight[pos_weight < 0] = 0pos_weight = pos_weight * 2 * 255neg_weight[neg_weight > 0] = 0neg_weight = abs(neg_weight) * 2 * 255out[..., 1] = out[...,1] - pos_weight - neg_weightout[..., 0] -= pos_weightout[..., 2] -= neg_weightout = out.clip(0, 255)return out.astype(np.uint8)if __name__ == "__main__":file_name = "./A0P10C0-2021_11_04_12_30_08.npy"events_ori = np.load(file_name, allow_pickle = True) # N W H T Pevent_w = int(np.max(events_ori[:, 0]) + 1) # max_W event_h = int(np.max(events_ori[:, 1]) + 1) # max_HC_event = 5events_ori[:, 2] = events_ori[:, 2] - events_ori[:, 2].min() # Tevents_ori[:, 3] = (events_ori[:, 3] - 0.5)*2 # Pduration = events_ori[:, 2].max() - events_ori[:, 2].min() # Tevents1 = gen_events_array(events_ori, C_event, duration, event_h, event_w) # event_h event_w C_eventevents1_vis = events1.clip(-5, 5) / 10cv2.imwrite('./events1_vis.jpg', vis_event(events1_vis[..., 2]))

未完待续！